diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 3a837f508..9f09d8dfd 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1715,16 +1715,18 @@ struct PhysicsServerCommandProcessorInternalData
 #endif //ENABLE_STATIC_GRPC_PLUGIN
 
 #ifdef STATIC_EGLRENDERER_PLUGIN
-{
-		int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("eglRendererPlugin", initPlugin_eglRendererPlugin, exitPlugin_eglRendererPlugin, executePluginCommand_eglRendererPlugin,0,0,getRenderInterface_eglRendererPlugin,0);
+	{
+		bool initPlugin = false;
+		int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("eglRendererPlugin", initPlugin_eglRendererPlugin, exitPlugin_eglRendererPlugin, executePluginCommand_eglRendererPlugin,0,0,getRenderInterface_eglRendererPlugin,0, initPlugin);
 		m_pluginManager.selectPluginRenderer(renderPluginId);
-}
+	}
 #endif//STATIC_EGLRENDERER_PLUGIN
 
 
 
 #ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
 	{
+
 			int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin,0);
 			m_pluginManager.selectPluginRenderer(renderPluginId);
 	}
diff --git a/examples/SharedMemory/b3PluginManager.cpp b/examples/SharedMemory/b3PluginManager.cpp
index 8e076c92f..b5a34bb37 100644
--- a/examples/SharedMemory/b3PluginManager.cpp
+++ b/examples/SharedMemory/b3PluginManager.cpp
@@ -34,6 +34,7 @@ struct b3Plugin
 {
 	B3_DYNLIB_HANDLE m_pluginHandle;
 	bool m_ownsPluginHandle;
+	bool m_isInitialized;
 	std::string m_pluginPath;
 	int m_pluginUniqueId;
 	PFN_INIT m_initFunc;
@@ -52,6 +53,7 @@ struct b3Plugin
 	b3Plugin()
 		:m_pluginHandle(0),
 		m_ownsPluginHandle(false),
+		m_isInitialized(false),
 		m_pluginUniqueId(-1),
 		m_initFunc(0),
 		m_exitFunc(0),
@@ -80,6 +82,7 @@ struct b3Plugin
 		m_processClientCommandsFunc = 0;
 		m_getRendererFunc = 0;
 		m_userPointer = 0;
+		m_isInitialized = false;
 	}
 };
 
@@ -171,8 +174,20 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 	int* pluginUidPtr = m_data->m_pluginMap.find(pluginPath);
 	if (pluginUidPtr)
 	{
+		
 		//already loaded
 		pluginUniqueId = *pluginUidPtr;
+		b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
+		if (!plugin->m_isInitialized)
+		{
+			b3PluginContext context = {0};
+			context.m_userPointer = 0;
+			context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
+			context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
+			int result = plugin->m_initFunc(&context);
+			plugin->m_isInitialized = true;
+			plugin->m_userPointer = context.m_userPointer;
+		}
 	}
 	else
 	{
@@ -211,16 +226,18 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 
 			if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
 			{
-
+				
 				b3PluginContext context;
 				context.m_userPointer = plugin->m_userPointer;
 				context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
 				context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
 				int version = plugin->m_initFunc(&context);
+				plugin->m_isInitialized = true;
 				//keep the user pointer persistent
 				plugin->m_userPointer = context.m_userPointer;
 				if (version == SHARED_MEMORY_MAGIC_NUMBER)
 				{
+					
 					ok = true;
 					plugin->m_ownsPluginHandle = true;
 					plugin->m_pluginHandle = pluginHandle;
@@ -286,7 +303,12 @@ void b3PluginManager::unloadPlugin(int pluginUniqueId)
 		context.m_userPointer = plugin->m_userPointer;
 		context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
 
-		plugin->m_exitFunc(&context);
+		if (plugin->m_isInitialized)
+		{
+			plugin->m_exitFunc(&context);
+			plugin->m_userPointer = 0;
+			plugin->m_isInitialized = false;
+		}
 		m_data->m_pluginMap.remove(plugin->m_pluginPath.c_str());
 		m_data->m_plugins.freeHandle(pluginUniqueId);
 	}
@@ -411,7 +433,7 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArgu
 }
 
 
-int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc)
+int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc, bool initPlugin)
 {
 
 	b3Plugin orgPlugin;
@@ -440,12 +462,14 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
 
 	m_data->m_pluginMap.insert(pluginPath, pluginUniqueId);
 
+	if (initPlugin)
 	{
 		b3PluginContext context = {0};
 		context.m_userPointer = 0;
 		context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
 		context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
 		int result = pluginHandle->m_initFunc(&context);
+		pluginHandle->m_isInitialized = true;
 		pluginHandle->m_userPointer = context.m_userPointer;
 	}
 	return pluginUniqueId;
diff --git a/examples/SharedMemory/b3PluginManager.h b/examples/SharedMemory/b3PluginManager.h
index 3beb64b54..b1eb592f5 100644
--- a/examples/SharedMemory/b3PluginManager.h
+++ b/examples/SharedMemory/b3PluginManager.h
@@ -30,7 +30,7 @@ class b3PluginManager
 		
 		void tickPlugins(double timeStep, b3PluginManagerTickMode tickMode);
 
-		int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc, PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc);
+		int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc, PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc, bool initPlugin=true);
 		void selectPluginRenderer(int pluginUniqueId);
 		UrdfRenderingInterface* getRenderInterface();
 };
diff --git a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
index 2e764d187..893440b0c 100644
--- a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
@@ -161,6 +161,8 @@ struct EGLRendererVisualShapeConverterInternalData
             glClearColor(.7f, .7f, .8f, 1.f);
 
             m_window->startRendering();
+			
+
 
             b3Assert(glGetError() ==GL_NO_ERROR);
 
@@ -170,21 +172,34 @@ struct EGLRendererVisualShapeConverterInternalData
             int maxNumObjectCapacity = 128 * 1024;
             int maxShapeCapacityInBytes = 128 * 1024 * 1024;
             m_instancingRenderer = new GLInstancingRenderer(maxNumObjectCapacity, maxShapeCapacityInBytes);
+			b3Assert(glGetError() ==GL_NO_ERROR);
             m_instancingRenderer->init();
+			b3Assert(glGetError() ==GL_NO_ERROR);
             m_instancingRenderer->resize(m_swWidth,m_swHeight);
             m_instancingRenderer->InitShaders();
+			b3Assert(glGetError() ==GL_NO_ERROR);
             m_instancingRenderer->setActiveCamera(&m_camera);
+			b3Assert(glGetError() ==GL_NO_ERROR);
             m_instancingRenderer->updateCamera();
+			b3Assert(glGetError() ==GL_NO_ERROR);
             m_instancingRenderer->setLightPosition(m_lightDirection);
+			m_window->endRendering();
 	}
 	
+	virtual ~EGLRendererVisualShapeConverterInternalData()
+	{
+		delete m_instancingRenderer;
+		m_window->closeWindow();
+		delete m_window;
+	}
+
 };
 
 
 
 EGLRendererVisualShapeConverter::EGLRendererVisualShapeConverter()
 {
-        m_data = new EGLRendererVisualShapeConverterInternalData();
+	m_data = new EGLRendererVisualShapeConverterInternalData();
 	
 	float dist = 1.5;
 	float pitch = -10;
diff --git a/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
index d1403f2fc..708565e58 100644
--- a/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
@@ -120,6 +120,10 @@ struct TinyRendererVisualShapeConverterInternalData
 	    m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1);
 	}
 	
+	virtual ~TinyRendererVisualShapeConverterInternalData()
+	{
+		printf("~TinyRendererVisualShapeConverterInternalData()\n");
+	}
 };
 
 
diff --git a/setup.py b/setup.py
index 3a6a5193a..2f08290b9 100644
--- a/setup.py
+++ b/setup.py
@@ -43,7 +43,7 @@ CXX_FLAGS += '-DBT_ENABLE_ENET '
 CXX_FLAGS += '-DBT_ENABLE_CLSOCKET '
 CXX_FLAGS += '-DB3_DUMP_PYTHON_VERSION '
 CXX_FLAGS += '-DSTATIC_EGLRENDERER_PLUGIN ' #comment to disable static egl plugin
-CXX_FLAGS += '-DBT_USE_EGL '  # uncomment for EGL (old EGL versions fail)
+
 
 
 
@@ -412,9 +412,10 @@ if 'STATIC_EGLRENDERER_PLUGIN' in CXX_FLAGS:
     sources += ['examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp']\
     + ['examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp']
 
-
 if _platform == "linux" or _platform == "linux2":
+    print("linux!")
     libraries += ['dl','pthread']
+    CXX_FLAGS += '-DBT_USE_EGL '
     CXX_FLAGS += '-D_LINUX '
     CXX_FLAGS += '-DGLEW_STATIC '
     CXX_FLAGS += '-DGLEW_INIT_OPENGL11_FUNCTIONS=1 '
@@ -430,8 +431,8 @@ if _platform == "linux" or _platform == "linux2":
     if 'BT_USE_EGL' in CXX_FLAGS:
         # linking with bullet's Glew libraries causes segfault
         # for some reason.
-        sources += ['examples/ThirdPartyLibs/glad/egl.c']
-        sources += ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
+        sources += ['examples/ThirdPartyLibs/glad/egl.c']\
+        + ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
 
 elif _platform == "win32":
     print("win32!")
@@ -503,7 +504,7 @@ setup(
 	sources =  sources,
 	libraries = libraries,
 	extra_compile_args=CXX_FLAGS.split(),
-	include_dirs = include_dirs + ["src","examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
+	include_dirs = include_dirs + ["src","examples", "examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
      ) ],
      classifiers=['Development Status :: 5 - Production/Stable',
                    'License :: OSI Approved :: zlib/libpng License',